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<div class="title">line_rgbd.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved. </span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_LINEMOD_LINE_RGBD</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_LINEMOD_LINE_RGBD</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/linemod.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/color_gradient_modality.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/surface_normal_modality.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/io/tar.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structpcl_1_1_bounding_box_x_y_z.html">   49</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">BoundingBoxXYZ</a></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structpcl_1_1_bounding_box_x_y_z.html#a9a1dcad1c0509f66304e5ebead1f9d08">   52</a></span>&#160;    <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a9a1dcad1c0509f66304e5ebead1f9d08">BoundingBoxXYZ</a> () : <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> (0.0f), <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> (0.0f), <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> (0.0f), <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a> (0.0f), <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> (0.0f), <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a> (0.0f) {}</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">   55</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">   57</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">   59</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">   62</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">   64</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">   66</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  };</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>XYZT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RGBT=Po<span class="keywordtype">int</span>XYZT&gt;</div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html">   73</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_line_r_g_b_d.html">LineRGBD</a></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">   78</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">Detection</a></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      {</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#ade6cad0fe72e09c84c707486f034ed88">   81</a></span>&#160;        <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#ade6cad0fe72e09c84c707486f034ed88">Detection</a> () : template_id (0), object_id (0), detection_id (0), response (0.0f), bounding_box () {}</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#aa4ba79365eacaca53febd469b2c7cb95">   84</a></span>&#160;        <span class="keywordtype">size_t</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#aa4ba79365eacaca53febd469b2c7cb95">template_id</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a371bf3ae5d566bf5bced79f137dee7e6">   86</a></span>&#160;        <span class="keywordtype">size_t</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a371bf3ae5d566bf5bced79f137dee7e6">object_id</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a3f6202bca884484b2ef7a9ca0edd2bbc">   88</a></span>&#160;        <span class="keywordtype">size_t</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a3f6202bca884484b2ef7a9ca0edd2bbc">detection_id</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#ab480cd05d1d41fd906de543a3b5276cc">   90</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#ab480cd05d1d41fd906de543a3b5276cc">response</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">   92</a></span>&#160;        <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">BoundingBoxXYZ</a> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">   94</a></span>&#160;        <a class="code" href="structpcl_1_1_region_x_y.html">RegionXY</a> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      };</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#af9f3fcc56ce3eed47b61a859cc09af14">   98</a></span>&#160;      <a class="code" href="classpcl_1_1_line_r_g_b_d.html#af9f3fcc56ce3eed47b61a859cc09af14">LineRGBD</a> ()</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        : intersection_volume_threshold_ (1.0f)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        , linemod_ ()</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        , color_gradient_mod_ ()</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        , surface_normal_mod_ ()</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        , cloud_xyz_ ()</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        , cloud_rgb_ ()</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        , template_point_clouds_ ()</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        , bounding_boxes_ ()</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        , object_ids_ ()</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        , detections_ ()</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a0b9ffbe4c9da8fa1fd1c1c5c11c41067">  113</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_line_r_g_b_d.html#a0b9ffbe4c9da8fa1fd1c1c5c11c41067">~LineRGBD</a> ()</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      loadTemplates (<span class="keyword">const</span> std::string &amp;file_name, <span class="keywordtype">size_t</span> object_id = 0);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      addTemplate (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html">SparseQuantizedMultiModTemplate</a> &amp; sqmmt, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a> &amp; cloud, <span class="keywordtype">size_t</span> object_id = 0);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a0470a2c071a6371dd937c36ca4e50700">  138</a></span>&#160;      <a class="code" href="classpcl_1_1_line_r_g_b_d.html#a0470a2c071a6371dd937c36ca4e50700">setDetectionThreshold</a> (<span class="keywordtype">float</span> threshold)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        linemod_.setDetectionThreshold (threshold);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a2d9fec3dc7b4f11e51c0b099ca148639">  148</a></span>&#160;      <a class="code" href="classpcl_1_1_line_r_g_b_d.html#a2d9fec3dc7b4f11e51c0b099ca148639">setGradientMagnitudeThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> threshold)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        color_gradient_mod_.setGradientMagnitudeThreshold (threshold);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#acdad286f8f0e557afe8590ff4e6d8026">  161</a></span>&#160;      <a class="code" href="classpcl_1_1_line_r_g_b_d.html#acdad286f8f0e557afe8590ff4e6d8026">setIntersectionVolumeThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> threshold = 1.0f)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        intersection_volume_threshold_ = threshold;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#ad947dfb37a5d5f0c1e6ed2e7ef165fdd">  170</a></span>&#160;      <a class="code" href="classpcl_1_1_line_r_g_b_d.html#ad947dfb37a5d5f0c1e6ed2e7ef165fdd">setInputCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointXYZT&gt;::ConstPtr &amp; cloud)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        cloud_xyz_ = cloud;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        surface_normal_mod_.setInputCloud (cloud);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        surface_normal_mod_.processInputData ();</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      }</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#ad55523e1edc468703620be5cb9bc5338">  182</a></span>&#160;      <a class="code" href="classpcl_1_1_line_r_g_b_d.html#ad55523e1edc468703620be5cb9bc5338">setInputColors</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointRGBT&gt;::ConstPtr &amp; cloud)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        cloud_rgb_ = cloud;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        color_gradient_mod_.setInputCloud (cloud);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        color_gradient_mod_.processInputData ();</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      createAndAddTemplate (</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a> &amp; cloud,</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">size_t</span> object_id,</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask_xyz,</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask_rgb,</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_region_x_y.html">RegionXY</a> &amp; region);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      detect (std::vector&lt;<span class="keyword">typename</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::Detection</a>&gt; &amp; detections);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      detectSemiScaleInvariant (std::vector&lt;<span class="keyword">typename</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::Detection</a>&gt; &amp; detections,</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                                <span class="keywordtype">float</span> min_scale = 0.6944444f,</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                                <span class="keywordtype">float</span> max_scale = 1.44f,</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                                <span class="keywordtype">float</span> scale_multiplier = 1.2f);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      computeTransformedTemplatePoints (<span class="keyword">const</span> <span class="keywordtype">size_t</span> detection_id,</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;                                        <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a> &amp; cloud);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keyword">inline</span> std::vector&lt;size_t&gt;</div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#ae17eead2ec8f3c236cf8901d3e216356">  236</a></span>&#160;      <a class="code" href="classpcl_1_1_line_r_g_b_d.html#ae17eead2ec8f3c236cf8901d3e216356">findObjectPointIndices</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> detection_id)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordflow">if</span> (detection_id &gt;= detections_.size ())</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          PCL_ERROR (<span class="stringliteral">&quot;ERROR pcl::LineRGBD::computeTransformedTemplatePoints - detection_id is out of bounds\n&quot;</span>);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="comment">// TODO: compute transform from detection</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        <span class="comment">// TODO: transform template points</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        std::vector&lt;size_t&gt; vec;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keywordflow">return</span> (vec);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      }</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      <span class="keyword">inline</span> std::vector&lt;size_t&gt;</div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a1c3432569c3c39a9b81b67c49fce2d0c">  255</a></span>&#160;      <a class="code" href="classpcl_1_1_line_r_g_b_d.html#a1c3432569c3c39a9b81b67c49fce2d0c">alignTemplatePoints</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> detection_id)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      {</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <span class="keywordflow">if</span> (detection_id &gt;= detections_.size ())</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;          PCL_ERROR (<span class="stringliteral">&quot;ERROR pcl::LineRGBD::computeTransformedTemplatePoints - detection_id is out of bounds\n&quot;</span>);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <span class="comment">// TODO: compute transform from detection</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        <span class="comment">// TODO: transform template points</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        std::vector&lt;size_t&gt; vec;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        <span class="keywordflow">return</span> (vec);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      refineDetectionsAlongDepth ();</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      applyProjectiveDepthICPOnDetections ();</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      removeOverlappingDetections ();</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      computeBoundingBoxIntersectionVolume (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">BoundingBoxXYZ</a> &amp;box1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">BoundingBoxXYZ</a> &amp;box2);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      readLTMHeader (<span class="keywordtype">int</span> fd, <a class="code" href="structpcl_1_1io_1_1_t_a_r_header.html">pcl::io::TARHeader</a> &amp;header);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a7b3b5780742852ca02cce124ae841955">  291</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_line_r_g_b_d.html#a7b3b5780742852ca02cce124ae841955">intersection_volume_threshold_</a>;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a0813e0759e864b9e98009a778e12c8c7">  294</a></span>&#160;      <span class="keyword">public</span>: <a class="code" href="classpcl_1_1_l_i_n_e_m_o_d.html">pcl::LINEMOD</a> <a class="code" href="classpcl_1_1_line_r_g_b_d.html#a0813e0759e864b9e98009a778e12c8c7">linemod_</a>;</div>
<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a79eca58ec3037bc34da9f7ea0e616f97">  296</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality&lt;PointRGBT&gt;</a> <a class="code" href="classpcl_1_1_line_r_g_b_d.html#a79eca58ec3037bc34da9f7ea0e616f97">color_gradient_mod_</a>;</div>
<div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a90463997ca182bea387905995cd4ba5b">  298</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html">pcl::SurfaceNormalModality&lt;PointXYZT&gt;</a> <a class="code" href="classpcl_1_1_line_r_g_b_d.html#a90463997ca182bea387905995cd4ba5b">surface_normal_mod_</a>;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a0607678b69d79b3a17cd1dd41bde7bed">  301</a></span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;PointXYZT&gt;::ConstPtr <a class="code" href="classpcl_1_1_line_r_g_b_d.html#a0607678b69d79b3a17cd1dd41bde7bed">cloud_xyz_</a>;</div>
<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a1beab8c5b441a6cd523b82be78f54a08">  303</a></span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;PointRGBT&gt;::ConstPtr <a class="code" href="classpcl_1_1_line_r_g_b_d.html#a1beab8c5b441a6cd523b82be78f54a08">cloud_rgb_</a>;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#ac58a2a54fbc259d35b94ebf00a1c796c">  306</a></span>&#160;      pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::CloudVectorType <a class="code" href="classpcl_1_1_line_r_g_b_d.html#ac58a2a54fbc259d35b94ebf00a1c796c">template_point_clouds_</a>;</div>
<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a612c6394336f457bfd2e680c49b75002">  308</a></span>&#160;      std::vector&lt;pcl::BoundingBoxXYZ&gt; <a class="code" href="classpcl_1_1_line_r_g_b_d.html#a612c6394336f457bfd2e680c49b75002">bounding_boxes_</a>;</div>
<div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#afcdb6e02554bfada5911dee617232808">  310</a></span>&#160;      std::vector&lt;size_t&gt; <a class="code" href="classpcl_1_1_line_r_g_b_d.html#afcdb6e02554bfada5911dee617232808">object_ids_</a>;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a2850c85159ee7bffd95e68a9f96f9aa6">  313</a></span>&#160;      std::vector&lt;typename pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::Detection&gt; <a class="code" href="classpcl_1_1_line_r_g_b_d.html#a2850c85159ee7bffd95e68a9f96f9aa6">detections_</a>; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  };</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;}</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/impl/linemod/line_rgbd.hpp&gt;</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="preprocessor">#endif  </span></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality</a></div><div class="ttdoc">Modality based on max-RGB gradients.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_l_i_n_e_m_o_d_html"><div class="ttname"><a href="classpcl_1_1_l_i_n_e_m_o_d.html">pcl::LINEMOD</a></div><div class="ttdoc">Template matching using the LINEMOD approach.</div><div class="ttdef"><b>Definition:</b> linemod.h:336</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html">pcl::LineRGBD</a></div><div class="ttdoc">High-level class for template matching using the LINEMOD approach based on RGB and Depth data.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a0470a2c071a6371dd937c36ca4e50700"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a0470a2c071a6371dd937c36ca4e50700">pcl::LineRGBD::setDetectionThreshold</a></div><div class="ttdeci">void setDetectionThreshold(float threshold)</div><div class="ttdoc">Sets the threshold for the detection responses. Responses are between 0 and 1, where 1 is a best.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:138</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a0607678b69d79b3a17cd1dd41bde7bed"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a0607678b69d79b3a17cd1dd41bde7bed">pcl::LineRGBD::cloud_xyz_</a></div><div class="ttdeci">pcl::PointCloud&lt; PointXYZT &gt;::ConstPtr cloud_xyz_</div><div class="ttdoc">XYZ point cloud.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:301</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a0813e0759e864b9e98009a778e12c8c7"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a0813e0759e864b9e98009a778e12c8c7">pcl::LineRGBD::linemod_</a></div><div class="ttdeci">pcl::LINEMOD linemod_</div><div class="ttdoc">LINEMOD instance.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:294</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a0b9ffbe4c9da8fa1fd1c1c5c11c41067"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a0b9ffbe4c9da8fa1fd1c1c5c11c41067">pcl::LineRGBD::~LineRGBD</a></div><div class="ttdeci">virtual ~LineRGBD()</div><div class="ttdoc">Destructor</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a1beab8c5b441a6cd523b82be78f54a08"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a1beab8c5b441a6cd523b82be78f54a08">pcl::LineRGBD::cloud_rgb_</a></div><div class="ttdeci">pcl::PointCloud&lt; PointRGBT &gt;::ConstPtr cloud_rgb_</div><div class="ttdoc">RGB point cloud.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:303</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a1c3432569c3c39a9b81b67c49fce2d0c"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a1c3432569c3c39a9b81b67c49fce2d0c">pcl::LineRGBD::alignTemplatePoints</a></div><div class="ttdeci">std::vector&lt; size_t &gt; alignTemplatePoints(const size_t detection_id)</div><div class="ttdoc">Aligns the template points with the points found at the detection position of the specified detection...</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:255</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a2850c85159ee7bffd95e68a9f96f9aa6"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a2850c85159ee7bffd95e68a9f96f9aa6">pcl::LineRGBD::detections_</a></div><div class="ttdeci">std::vector&lt; typename pcl::LineRGBD&lt; PointXYZT, PointRGBT &gt;::Detection &gt; detections_</div><div class="ttdoc">Detections from last call of method detect (...).</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:313</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a2d9fec3dc7b4f11e51c0b099ca148639"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a2d9fec3dc7b4f11e51c0b099ca148639">pcl::LineRGBD::setGradientMagnitudeThreshold</a></div><div class="ttdeci">void setGradientMagnitudeThreshold(const float threshold)</div><div class="ttdoc">Sets the threshold on the magnitude of color gradients. Color gradients with a magnitude below this t...</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a612c6394336f457bfd2e680c49b75002"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a612c6394336f457bfd2e680c49b75002">pcl::LineRGBD::bounding_boxes_</a></div><div class="ttdeci">std::vector&lt; pcl::BoundingBoxXYZ &gt; bounding_boxes_</div><div class="ttdoc">Bounding boxes corresonding to the templates.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:308</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a79eca58ec3037bc34da9f7ea0e616f97"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a79eca58ec3037bc34da9f7ea0e616f97">pcl::LineRGBD::color_gradient_mod_</a></div><div class="ttdeci">pcl::ColorGradientModality&lt; PointRGBT &gt; color_gradient_mod_</div><div class="ttdoc">Color gradient modality.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:296</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a7b3b5780742852ca02cce124ae841955"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a7b3b5780742852ca02cce124ae841955">pcl::LineRGBD::intersection_volume_threshold_</a></div><div class="ttdeci">float intersection_volume_threshold_</div><div class="ttdoc">Intersection volume threshold.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:291</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a90463997ca182bea387905995cd4ba5b"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a90463997ca182bea387905995cd4ba5b">pcl::LineRGBD::surface_normal_mod_</a></div><div class="ttdeci">pcl::SurfaceNormalModality&lt; PointXYZT &gt; surface_normal_mod_</div><div class="ttdoc">Surface normal modality.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:298</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_ac58a2a54fbc259d35b94ebf00a1c796c"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#ac58a2a54fbc259d35b94ebf00a1c796c">pcl::LineRGBD::template_point_clouds_</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZRGBA &gt;::CloudVectorType template_point_clouds_</div><div class="ttdoc">Point clouds corresponding to the templates.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:306</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_acdad286f8f0e557afe8590ff4e6d8026"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#acdad286f8f0e557afe8590ff4e6d8026">pcl::LineRGBD::setIntersectionVolumeThreshold</a></div><div class="ttdeci">void setIntersectionVolumeThreshold(const float threshold=1.0f)</div><div class="ttdoc">Sets the threshold for the decision whether two detections of the same template are merged or not....</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_ad55523e1edc468703620be5cb9bc5338"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#ad55523e1edc468703620be5cb9bc5338">pcl::LineRGBD::setInputColors</a></div><div class="ttdeci">void setInputColors(const typename pcl::PointCloud&lt; PointRGBT &gt;::ConstPtr &amp;cloud)</div><div class="ttdoc">Sets the input cloud with rgb values. The cloud has to be organized.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_ad947dfb37a5d5f0c1e6ed2e7ef165fdd"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#ad947dfb37a5d5f0c1e6ed2e7ef165fdd">pcl::LineRGBD::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const typename pcl::PointCloud&lt; PointXYZT &gt;::ConstPtr &amp;cloud)</div><div class="ttdoc">Sets the input cloud with xyz point coordinates. The cloud has to be organized.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:170</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_ae17eead2ec8f3c236cf8901d3e216356"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#ae17eead2ec8f3c236cf8901d3e216356">pcl::LineRGBD::findObjectPointIndices</a></div><div class="ttdeci">std::vector&lt; size_t &gt; findObjectPointIndices(const size_t detection_id)</div><div class="ttdoc">Finds the indices of the points in the input cloud which correspond to the specified detection....</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_af9f3fcc56ce3eed47b61a859cc09af14"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#af9f3fcc56ce3eed47b61a859cc09af14">pcl::LineRGBD::LineRGBD</a></div><div class="ttdeci">LineRGBD()</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_afcdb6e02554bfada5911dee617232808"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#afcdb6e02554bfada5911dee617232808">pcl::LineRGBD::object_ids_</a></div><div class="ttdeci">std::vector&lt; size_t &gt; object_ids_</div><div class="ttdoc">Object IDs corresponding to the templates.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:310</div></div>
<div class="ttc" id="aclasspcl_1_1_mask_map_html"><div class="ttname"><a href="classpcl_1_1_mask_map.html">pcl::MaskMap</a></div><div class="ttdef"><b>Definition:</b> mask_map.h:48</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZRGBA &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html">pcl::SurfaceNormalModality&lt; PointXYZT &gt;</a></div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html">pcl::BoundingBoxXYZ</a></div><div class="ttdef"><b>Definition:</b> line_rgbd.h:50</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_a115c7432f8c381c53ab4575226c57a9c"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">pcl::BoundingBoxXYZ::width</a></div><div class="ttdeci">float width</div><div class="ttdoc">Width of the bounding box</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:62</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_a16450ce18154338681e032904c423f99"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">pcl::BoundingBoxXYZ::x</a></div><div class="ttdeci">float x</div><div class="ttdoc">X-coordinate of the upper left front point</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:55</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_a74fecaefd54b5d549abee0806cc76f98"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">pcl::BoundingBoxXYZ::y</a></div><div class="ttdeci">float y</div><div class="ttdoc">Y-coordinate of the upper left front point</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:57</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_a79e978c9e7351c0f01a4c2075364568c"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">pcl::BoundingBoxXYZ::depth</a></div><div class="ttdeci">float depth</div><div class="ttdoc">Depth of the bounding box</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:66</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_a9a1dcad1c0509f66304e5ebead1f9d08"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#a9a1dcad1c0509f66304e5ebead1f9d08">pcl::BoundingBoxXYZ::BoundingBoxXYZ</a></div><div class="ttdeci">BoundingBoxXYZ()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:52</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_ac7db1c7b64f050fec99b1d3bdd5f6475"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">pcl::BoundingBoxXYZ::z</a></div><div class="ttdeci">float z</div><div class="ttdoc">Z-coordinate of the upper left front point</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_af330b68c9dde00c92e5a518655dfcac6"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">pcl::BoundingBoxXYZ::height</a></div><div class="ttdeci">float height</div><div class="ttdoc">Height of the bounding box</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:64</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">pcl::LineRGBD::Detection</a></div><div class="ttdoc">A LineRGBD detection.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:79</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_a371bf3ae5d566bf5bced79f137dee7e6"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a371bf3ae5d566bf5bced79f137dee7e6">pcl::LineRGBD::Detection::object_id</a></div><div class="ttdeci">size_t object_id</div><div class="ttdoc">The ID of the object corresponding to the template.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:86</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_a3f6202bca884484b2ef7a9ca0edd2bbc"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a3f6202bca884484b2ef7a9ca0edd2bbc">pcl::LineRGBD::Detection::detection_id</a></div><div class="ttdeci">size_t detection_id</div><div class="ttdoc">The ID of this detection. This is only valid for the last call of the method detect (....</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:88</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_a5391c8dca3c215eca707a096f93fa758"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">pcl::LineRGBD::Detection::bounding_box</a></div><div class="ttdeci">BoundingBoxXYZ bounding_box</div><div class="ttdoc">The 3D bounding box of the detection.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:92</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_aa4ba79365eacaca53febd469b2c7cb95"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#aa4ba79365eacaca53febd469b2c7cb95">pcl::LineRGBD::Detection::template_id</a></div><div class="ttdeci">size_t template_id</div><div class="ttdoc">The ID of the template.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:84</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_ab480cd05d1d41fd906de543a3b5276cc"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#ab480cd05d1d41fd906de543a3b5276cc">pcl::LineRGBD::Detection::response</a></div><div class="ttdeci">float response</div><div class="ttdoc">The response of this detection. Responses are between 0 and 1, where 1 is best.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:90</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_adb3f9494ff5217fe319280ae0807fb22"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">pcl::LineRGBD::Detection::region</a></div><div class="ttdeci">RegionXY region</div><div class="ttdoc">The 2D template region of the detection.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:94</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_ade6cad0fe72e09c84c707486f034ed88"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#ade6cad0fe72e09c84c707486f034ed88">pcl::LineRGBD::Detection::Detection</a></div><div class="ttdeci">Detection()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:81</div></div>
<div class="ttc" id="astructpcl_1_1_region_x_y_html"><div class="ttname"><a href="structpcl_1_1_region_x_y.html">pcl::RegionXY</a></div><div class="ttdoc">Defines a region in XY-space.</div><div class="ttdef"><b>Definition:</b> region_xy.h:83</div></div>
<div class="ttc" id="astructpcl_1_1_sparse_quantized_multi_mod_template_html"><div class="ttname"><a href="structpcl_1_1_sparse_quantized_multi_mod_template.html">pcl::SparseQuantizedMultiModTemplate</a></div><div class="ttdoc">A multi-modality template constructed from a set of quantized multi-modality features.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:110</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_t_a_r_header_html"><div class="ttname"><a href="structpcl_1_1io_1_1_t_a_r_header.html">pcl::io::TARHeader</a></div><div class="ttdoc">A TAR file's header, as described on http://en.wikipedia.org/wiki/Tar_%28file_format%29.</div><div class="ttdef"><b>Definition:</b> tar.h:51</div></div>
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